Fully Actuated System Approach for 6DOF Spacecraft Control Based on Extended State Observer

doi:10.1007/s11424-022-1498-5

Journal of Systems Science and Complexity ›› 2022, Vol. 35 ›› Issue (2): 604-622.DOI: 10.1007/s11424-022-1498-5

Fully Actuated System Approach for 6DOF Spacecraft Control Based on Extended State Observer

ZHAO Qin¹, DUAN Guang-Ren^1,2

1. Center for Control Science and Technology, Southern University of Science and Technology, Shenzhen 518055, China;
2. Center for Control Theory and Guidance Technology, Harbin Institute of Technology, Harbin 150001, China

Received:2021-12-16 Revised:2022-01-11 Published:2022-04-13
Supported by:
This research was partially supported by the Science Center Program of the National Natural Science Foundation of China under Grant No. 62188101, and the Major Program of the National Natural Science Foundation of China under Grant Nos. 61690210 and 61690212, the National Natural Science Foundation of China under Grant Nos. 62103164 and 61703437.

PDF ( 34 ) Cited

ZHAO Qin, DUAN Guang-Ren. Fully Actuated System Approach for 6DOF Spacecraft Control Based on Extended State Observer[J]. Journal of Systems Science and Complexity, 2022, 35(2): 604-622.

This paper deals with the problem of position and attitude tracking control for a rigid spacecraft. A fully actuated system (FAS) model for the six degree-of-freedom (6DOF) spacecraft motion is derived first from the state-space model by variable elimination. Considering the uncertainties from external disturbance, unknown motion information, and uncertain inertia properties, an extended state observer (ESO) is designed to estimate the total disturbance. Then, a tracking controller based on FAS approach is designed, and this makes the closed-loop system a constant linear one with an arbitrarily assignable eigenstructure. The solution to the parameter matrices of the observer and controller is given subsequently. It is proved via the Lyapunov stability theory that the observer errors and tracking errors both converge into the neighborhood of the origin. Finally, numerical simulation demonstrates the effectiveness of the proposed controller.

Key words: Constant linear closed-loop system, extended state observer, fully actuated system approach, relative position and attitude control

Zhang F and Duan G R, Integrated translational and rotational finite-time maneuver of a rigid spacecraft with actuator misalignment, IET Control Theory & Applications, 2012, 6(9): 1192–1204.
[2] Li Q, Yuan J, Zhang B, et al., Disturbance observer based control for spacecraft proximity operations with path constraint, Aerospace Science and Technology, 2018, 79: 154–163.
[3] Sun L, Saturated adaptive output-constrained control of cooperative spacecraft rendezvous and docking, IEEE/CAA Journal of Automatica Sinica, 2019, 6(6): 1462–1470.
[4] Li Q, Yuan J, and Zhang B, Extended state observer based output control for spacecraft rendezvous and docking with actuator saturation, ISA Transactions, 2019, 88: 37–49.
[5] Duan G R, High-order system approaches: III. Observability and observer design, Acta Automatica Sinica, 2020, 46(9): 1885–1895.
[6] Duan G R, High-order fully actuated system approaches: Part III. Robust control and high-order backstepping, International Journal of Systems Science, 2021, 52(5): 952–971.
[7] Duan G R, High-order fully actuated system approaches: Part IV. Adaptive control and highorder backstepping, International Journal of Systems Science, 2021, 52(5): 972–989.
[8] Duan G R, High-order fully actuated system approaches: Part V. Robust adaptive control, International Journal of Systems Science, 2021, 52(10): 2129–2143.
[9] Duan G R, High-order fully-actuated system approaches: Part VI. Disturbance attenuation and decoupling, International Journal of Systems Science, 2021, 52(10): 2161–2181.
[10] Duan G R, High-order fully actuated system approaches: Part VIII. Optimal control with application in spacecraft attitude stabilisation, International Journal of Systems Science, 2022, 53(1): 54–73.
[11] Sun L, Huo W, and Jiao Z, Robust adaptive relative position and attitude control for spacecraft autonomous proximity, ISA Transactions, 2016, 63: 11–19.
[12] Sun L and Zheng Z, Disturbance observer-based robust saturated control for spacecraft proximity maneuvers, IEEE Transactions on Control Systems Technology, 2018, 26(2): 684–692.
[13] Mammarella M, Capello E, Park H, et al., Tube-based robust model predictive control for spacecraft proximity operations in the presence of persistent disturbance, Aerospace Science and Technology, 2018, 77: 585–594.
[14] Hu Q, Shao X, and Chen W H, Robust fault-tolerant tracking control for spacecraft proximity operations using time-varying sliding mode, IEEE Transactions on Aerospace and Electronic Systems, 2017, 54(1): 2–17.
[15] Huang Y and Jia Y, Nonlinear robust H∞ tracking control for 6 DOF spacecraft formation with input saturation, Proceedings of 2016 IEEE 55th Conference on Decision and Control, Las Vegas, 2016.
[16] Han J, From PID to active disturbance rejection control, IEEE Transactions on Industrial Electronics, 2009, 56(3): 900–906.
[17] Ran D, Chen X, Ruiter A D, et al., Adaptive extended-state observer-based fault tolerant attitude control for spacecraft with reaction wheels, Acta Astronautica, 2018, 145: 501–514.
[18] Gong L G, Wang Q, and Dong C Y, Spacecraft output feedback attitude control based on extended state observer and adaptive dynamic programming, Journal of the Franklin Institute, 2019, 356(10): 4971–5000.
[19] Gao Z, Scaling and bandwidth-parameterization based controller tuning, Proceedings of the American Control Conference, Denver, 2006.
[20] Li J, Xia Y, Qi X, et al., On the necessity, scheme, and basis of the linear-nonlinear switching in active disturbance rejection control, IEEE Transactions on Industrial Electronics, 2016, 64(2): 1425–1435.
[21] Guo B Z and Zhao Z, On the convergence of an extended state observer for nonlinear systems with uncertainty, Systems & Control Letters, 2011, 60(6): 420–430.
[22] Kristiansen R, Grtli E I, Nicklasson P J, et al., A model of relative translation and rotation in leader-follower spacecraft formations, Modeling, Identification and Control, 2007, 28(1): 3–13.
[23] Duan G R, High-order system approaches: I. Fully-actuated systems and parametric designs, Acta Automatica Sinica, 2020, 46(7): 1333–1345.
[24] Duan G R, High-order fully actuated system approaches: Part I. Models and basic procedure, International Journal of Systems Science, 2021, 52(2): 422–435.
[25] Duan G R, High-order fully actuated system approaches: part VII. Controllability, stabilisability and parametric designs, International Journal of Systems Science, 2021, 52(14): 3091–3114.
[26] Zhao Q and Duan G, Finite-time concurrent learning adaptive control for spacecraft with inertia parameter identification, Journal of Guidance, Control, and Dynamics, 2020, 43(3): 574–584.
[27] Zhao Q and Duan G, Concurrent learning adaptive finite-time control for spacecraft with inertia parameter identification under external disturbance, IEEE Transactions on Aerospace and Electronic Systems, 2021, 57(6): 3691–3704.
[28] Wertz J R and Larson W J, Space Mission Analysis and Design, 3rd Edition, Microcosm Press, Torrance, CA, 1999.

[1]	DUAN Guang-Ren. Brockett’s First Example: An FAS Approach Treatment [J]. Journal of Systems Science and Complexity, 2022, 35(2): 441-456.
[2]	XIAO Fuzheng, CHEN Liqun. Attitude Control of Spherical Liquid-Filled Spacecraft Based on High-Order Fully Actuated System Approaches [J]. Journal of Systems Science and Complexity, 2022, 35(2): 471-480.
[3]	NING Pengju, HUA Changchun, MENG Rui. Adaptive Control for a Class of Nonlinear Time-Delay System Based on the Fully Actuated System Approaches [J]. Journal of Systems Science and Complexity, 2022, 35(2): 522-534.
[4]	XUE Wenchao,HUANG Yi. Tuning of Sampled-Data ADRC for Nonlinear Uncertain Systems [J]. Journal of Systems Science and Complexity, 2016, 29(5): 1187-1211.
[5]	CHEN Qiang,TAO Liang,NAN Yurong. Full-Order Sliding Mode Control for High-Order Nonlinear System Based on Extended State Observer [J]. Journal of Systems Science and Complexity, 2016, 29(4): 978-990.

Viewed

Full text

Abstract